diff --git a/gripper-ex/README b/gripper-ex/README
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+++ b/gripper-ex/README
@@ -0,0 +1,4 @@
+
+Gripper with multi-robot, multi-gripper, multi-rooms configuration.
+
+usage: gripper.py [-h] [--seed SEED] balls robots grippers rooms
diff --git a/gripper-ex/domain.pddl b/gripper-ex/domain.pddl
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+++ b/gripper-ex/domain.pddl
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+;; variable number of robots, variable number of grippers per robot
+(define (domain gripper-ex-typed)
+   (:requirements :strips :typing)
+   (:types room ball gripper robot)
+   (:predicates (at-robot ?r - robot ?a - room)
+		(at-ball ?b - ball ?r - room)
+		(has ?r - robot ?g - gripper)
+		(free ?g - gripper)
+		(carry ?b - ball ?g - gripper))
+
+   (:action move
+       :parameters  (?from - room ?to - room ?robot - robot)
+       :precondition (at-robot ?robot ?from)
+       :effect (and  (at-robot ?robot ?to)
+		     (not (at-robot ?robot ?from))))
+
+
+
+   (:action pick
+       :parameters (?ball - ball ?room - room ?robot - robot ?gripper - gripper)
+       :precondition  (and (at-ball ?ball ?room) (at-robot ?robot ?room) (has ?robot ?gripper) (free ?gripper))
+       :effect (and (carry ?ball ?gripper)
+		    (not (at-ball ?ball ?room))
+		    (not (free ?gripper))))
+
+
+   (:action drop
+       :parameters  (?ball - ball ?room - room ?robot - robot ?gripper - gripper)
+       :precondition  (and (at-robot ?robot ?room) (has ?robot ?gripper) (carry ?ball ?gripper))
+       :effect (and (at-ball ?ball ?room)
+		    (free ?gripper)
+		    (not (carry ?ball ?gripper)))))
+
diff --git a/gripper-ex/gripper.py b/gripper-ex/gripper.py
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+++ b/gripper-ex/gripper.py
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+#!/usr/bin/env python
+
+import argparse
+import random
+import itertools
+
+parser = argparse.ArgumentParser()
+
+parser.add_argument("balls", type=int, help="the number of balls")
+parser.add_argument("robots", type=int, help="the number of robots")
+parser.add_argument("grippers", type=int, help="the number of grippers per robot")
+parser.add_argument("rooms", type=int, help="the number of rooms")
+parser.add_argument("--seed", "-s", type=int, help="random seed")
+
+args = parser.parse_args()
+
+random.seed(args.seed)
+
+robots = [f"robot{i}" for i in range(args.robots)]
+rooms = [f"room{i}" for i in range(args.rooms)]
+grippers = [f"gripper-{i}-{j}" for i,j in itertools.product(range(args.robots),range(args.grippers))]
+balls = [f"ball{i}" for i in range(args.balls)]
+
+
+
+def init():
+    facts = [f"(has robot{i} gripper-{i}-{j}) (free gripper-{i}-{j})"
+             for i,j in itertools.product(range(args.robots),range(args.grippers))]
+
+    for ball in balls:
+        room = random.choice(rooms)
+        facts.append(f"(at-ball {ball} {room})")
+    for robot in robots:
+        room = random.choice(rooms)
+        facts.append(f"(at-robot {robot} {room})")
+
+    return " ".join(facts)
+
+
+def goal():
+    facts = []
+
+    for ball in balls:
+        room = random.choice(rooms)
+        facts.append(f"(at-ball {ball} {room})")
+
+    return " ".join(facts)
+
+
+print("(define (problem gripper)")
+print(" (:domain gripper-ex-typed)")
+print(" (:objects "
+      + " ".join(
+          robots   + ["-", "robots"] +
+          rooms    + ["-", "rooms"] +
+          grippers + ["-", "grippers"] +
+          balls    + ["-", "balls"])
+      + ")")
+print(" (:init " + init() + ")")
+print(" (:goal " + goal() + "))")